Open Access
Table 2
Simulation parameters of models
| Parameters | Parameter values | |
|---|---|---|
| Motor controller | Position loop Kp | 50 rad/m ⋅ s |
| Position loop KI | 35 rad/m ⋅ s2 | |
| Speed loop Kp | 100 A ⋅ s/rad | |
| Speed loop KI | 60 A/rad | |
| Current loop Kp | 80 V/A | |
| Current loop KI | 50 V/A ⋅ s | |
| Electromotor | Armature inductance L | 2.26 mH |
| Armature resistance R | 0.73 Ω | |
| Torque coefficient Kt | 0.716 N ⋅ m/A | |
| Counter electromotive force coefficient Ke | 0.167 V ⋅ s/rad | |
| Rotational inertia of the rotor JRotor | 4.45 × 10−4kg ⋅ m2 | |
| Driving mechanism | Gear ratio i | 1/2.16 |
| Lead of the lead screw P | 20 mm | |
| Combined stiffness C | See formula (5) | |
| Empty Return clearance α | 20.15 arcmin | |
| Equivalent moment of inertia Jeq | 1.783 × 10−3 kg.m 2 |
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